robotiq

Based on the jade-devel branch of robotiq, we have built our own fork with the irg-jade branch.

Meshes

We are using the original URDF robotiq/robotiq_s_model_visualization/cfg/robotiq_hand_macro.urdf.xacro from jade-devel branch of robotiq

roslaunch robotiq_s_model_articulated_gazebo robotiq_gripper_empty_world.launch
libRobotiqHandPlugin_controlMsg.so here will publish the joint states of the gripper to /left_hand/joint_states - This /left_hand/joint_states is defined here
And then the joint_state_publisher will publish the information at /left_hand/joint_states inside the \source_list forward to /joint_states.
Then the robot_state_publisher will use the information at /joint_states to publish the tf, so in RVIZ, you can view the robot using RobotModel.

http://gazebosim.org/tutorials?tut=drcsim_robotiq_hand&cat=
roslaunch robotiq_s_model_articulated_gazebo robotiq_gripper_empty_world.launch
To close it half-way
- If we are using the RobotiqHandPlugin plugin
  - rostopic pub --once left_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,0,1,0,0,0,127,255,0,155,0,0,255,0,0,0,0,0}
  - all the way
    - rostopic pub --once left_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,0,1,0,0,0,255,255,0,155,0,0,255,0,0,0,0,0}
- If we are using the RobotiqHandPlugin_controlMsg plugin
  - rostopic pub --once /left_hand/SModelRobotOutput robotiq_s_model_control/SModel_robot_output {1,0,1,0,0,0,127,255,0,155,0,0,255,0,0,0,0,0,0}
  - all the way
    - rostopic pub --once /left_hand/SModelRobotOutput robotiq_s_model_control/SModel_robot_output {1,0,1,0,0,0,127,255,0,255,0,0,255,0,0,0,0,0,0}
To fully open it
- If we are using the RobotiqHandPlugin plugin
  - rostopic pub --once left_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,0,1,0,0,0,0,0,0,155,0,0,0,0,0,0,0,0}
- If we are using the RobotiqHandPlugin_controlMsg plugin
  - rostopic pub --once /left_hand/SModelRobotOutput robotiq_s_model_control/SModel_robot_output {1,0,1,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0}

You have to add set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") to CMakeLists.txt
Then for the Gazebo plugin c++ files, you might have to change const to constexpr. Otherwise it won't compile.
- rogerclarkmelbourne/Arduino_STM32#402